Transport vehicle and method

BACKGROUND

The subject disclosure broadly relates to the art of transport vehicles and, more particularly, to a self-balancing vehicle suitable for transporting an associated cargo or payload over an uneven or discontinuous surface and a method of transporting the associated cargo using the same.

The subject matter of the present disclosure is capable of broad application and can be used in association with the transport of any suitably sized and/or weighted payloads, such as kitchen appliances, business or office equipment, and industrial machinery, for example. The subject matter of the present disclosure finds particular use and application in association with the transport of copy machines, printers, and sensitive and/or sophisticated equipment of other types and kinds, and specific reference is made herein with regard thereto. However, it is to be understood that the specific applications and uses shown and discussed herein are merely exemplary and that the same are not intended to be in any way limiting.

The current practice of transporting larger pieces of office equipment, such as copy machines and stand alone or network printers, for example, normally involves at least some amount of lifting and/or lowering the equipment. This is typically performed by delivery or service persons using manual physical effort. In many cases, such office equipment is loaded onto a two-wheeled cart or dolly and tilted back so that the weight of the equipment is carried on the two wheels of the cart. Even so, current practices of transporting such equipment and systems undesirably require substantial physical effort on the part of the transporting personnel, two or more of whom are often dispatched to transport the equipment.

Another disadvantage of current methods is that the complex and sophisticated equipment that is often being transported is usually unavoidably caused to experience certain undesirable conditions during transport. As an example, tilting a copy machine or printer on a two-wheeled dolly for transport often results in the spillage of toner and other consumables, which can negatively impact the performance and/or output of the equipment. Additionally, the machines and/or equipment often also experience undesirable loads or inputs during transport. This can be due to starting, stopping, bumps and other occurrences, which can impart impact loads on sensitive components. These types of inputs can result in further spillage of consumables, and can also cause components to deviate from pre-calibrated conditions or even become damaged.

What's more, both the physical difficulty and the magnitude of these undesirable inputs and conditions are greatly increased where the transport path involves traversing a discontinuous surface, such as a flight of stairs, for example. This situation is common in countries, including many European countries, in which older buildings that do not have elevators or lifts remain in use as residential, commercial or industrial buildings into which such equipment is commonly delivered.

It will be appreciated that the extent to which such inputs will be problematic for a given cargo will depend upon the type, kind and/or configuration of the product that is being transported. For example, complex and highly sensitive devices, such as electrophotographic equipment (e.g., copy machines and printers) can be subject to significant damage, such as component breakage, misalignment, loss of calibration and consumable spillage (e.g., toner spillage), for example, due to even minimal impact and other undesirable inputs. Whereas, less sophisticated equipment, such as kitchen appliances and industrial machinery, for example, may be less susceptible to issues such as misalignment, loss of calibration and spillage. However, these types of equipment and machinery too can benefit from improved handling and reduced impact loading, such as to minimize chipping and scratching of finished components, for example.

Devices have been developed that reduce the amount of the physical labor required to transport a piece of equipment up flights of stairs. Such devices commonly include an otherwise typical two-wheeled dolly or handcart that has powered endless belts disposed along the back support structure of the cart. In use, the transport personnel lean the dolly backward (along with the piece of equipment thereon) so that the powered track lays on and engages the stair treads. The powered track can then be energized such that the endless belt(s) assist in carrying the dolly and the equipment thereon up the stairs.

One difficulty with such arrangements, however, is that the dolly must be physically manipulated at the top and the bottom of each flight of stairs as well as being negotiated by hand around each landing therebetween. Thus, substantial physical effort remains, even with the benefit of the powered track. Another disadvantage is that such devices still require the equipment to be tilted or tipped. As such, the spilling and/or leakage of consumables remains an issue. Furthermore, to aid in engaging the stair treads, the endless belt(s) are often outfitted with grips or protrusions to catch on the tread. Unfortunately, the pitch or spacing of the grips is often different than the spacing of the stairs. In such cases, the use of the powered track can result in shock loads or inputs occurring at nearly each step. Thus, even with the use of the powered track to reduce the physical effort involved, shock loads and other undesirable inputs still unavoidably occur.

Further still, self-balancing devices have been developed that are well suited for transporting human beings over a variety of surface conditions. Such devices are disclosed in U.S. Pat. Nos. 6,288,505; 6,302,230; 6,357,544; 6,367,817; 6,408,240; 6,538,411; 6,543,564; 6,561,294; 6,598,941; 6,651,763; 6,651,766; 6,779,621; 6,789,640; 6,796,396; 6,815,919; 6,827,163; 6,868,931; 6,874,591; 6,929,080 and 6,969,079; and U.S. Patent Publication Nos. 20020063006; 20030146025; 20040011573; 20040055795; 20040055796; 20040055804; 20040069543; 20050017733; 20050121866; 20050126832 and 20050236215, all of which are incorporated herein by reference in their entireties. It will be appreciated that these transport devices are generally not well suited for traversing a discontinuous surfaces, such as a flight of stairs.

However, other transporting devices are known that can traverse discontinuous surfaces and can generally perform such tasks with a minimum of tipping or tilting and while undergoing few impacts, shock loads or other such undesirable inputs. Examples of such devices are shown a in U.S. Pat. Nos. 5,701,965; 5,791,425; 5,971,091; 5,975,225; 6,223,104; 6,311,794; 6,332,103; 6,343,664; 6,405,816; 6,415,879; 6,443,250; 6,443,251; 6,553,271; 6,571,892; 6,575,539; 6,581,714; 6,615,938; 6,715,845; 6,799,649; 6,866,107 and 6,915,878; and U.S. Patent Publication Nos. 20040183272 and 20050034553, all of which are incorporated herein by reference in their entireties. It will be recognized, however, that these self-balancing devices have largely been developed for use in transporting human beings and generally take the form of wheeled chairs. As such, there are numerous aspects of these devices which generally limit their application to human transport, and which substantially reduce the effectiveness of these devices for transporting equipment and other inanimate payloads.

One significant example of such an aspect relates to the ability of a human being to mount and dismount these known devices. That is, these self-balancing devices have been developed to remained generally upright under essentially all operational conditions. Accordingly, the human user typically mounts and dismounts (alone or with assistance) such a self-balancing device while the same is in a generally upright orientation. In some cases, the self-balancing device may be angled forward slightly to assist the user. However, tilting such a self-balancing transporter beyond a certain maximum angle can undesirably result in a cantilevered load condition that is outside the capability of the self-balancing transporter to correct. Issues related to such conditions, and devices for preventing the occurrence of such conditions or mitigating the effects thereof are disclosed in the. U.S. Pat. Nos. 6,062,600; 6,386,576; and 6,547,026. As such, a generally upright orientation is normally maintained. As a result, such self-balancing devices are not well-suited for transferring (e.g., loading and/or unloading) relatively large and/or heavy objects, such as office equipment, for example, on to and off of the self-balancing devices.

BRIEF DESCRIPTION

A transport vehicle in accordance with the present disclosure is provided that includes a self-balancing vehicle base and a platform supported on the base. The platform is displaceable relative to the base between a first position and a second position. A support device engages the platform and supports at least a portion thereof during displacement between the first position and the second position.

A vehicle in accordance with the present disclosure for transporting an associated cargo over a discontinuous surface is provided that includes a self-balancing vehicle base operative to traverse a discontinuous surface. The self-balancing vehicle base is displaceable between a first orientation for transporting the associated cargo and a second orientation for transferring the associated cargo. A platform is supported on the vehicle base for receiving the associated cargo. The support platform is displaceable between a retracted position for transporting the associated cargo and an extended position for transferring the associated cargo. A support member extends between the vehicle base and the platform, and is operative to support the platform during displacement between the retracted position and the extended position.

A transport vehicle in accordance with the present disclosure that is capable of traversing a plurality of stairs carrying an associated payload is provided that includes a self-balancing vehicle base including a base structure having opposing sides. An axis extends between the opposing sides, and a base axle extends along the axis. A motor is an operative association with the base axle. First and second carrier members are supported along the opposing sides of the base structure for rotation about the axis. At least one of the first and second carrier members is operatively associated with the base axle. The first and second carrier members have opposing ends and a wheel axle supported on each of the opposing ends. A wheel assembly is supported on each of the wheel axles. A platform is supported on the vehicle base and is displaceable between a first position and a second position. A flexible force transmitting device is supportable on the platform and is adapted to engage one of the vehicle base or at least one of the wheel assemblies on at least one of the first and second carrier members.

A method of transporting a payload in accordance with the present disclosure is provided that includes providing a self-balancing vehicle base, a displaceable platform supported on the vehicle base, and a support device. The method also includes moving the vehicle base from a first angular orientation to a second angular orientation, and moving the platform from a first position to a second position. The method further includes transferring the payload to or from the platform, returning the platform to the first position, and returning the vehicle base to the first angular position.

BRIEF DESCRIPTION OF THE DRAWINGS

<figref idrefs="DRAWINGS">FIG. 1</figref> is a perspective view of one exemplary embodiment of a vehicle base, platform and support member shown in use transporting an associated payload on a surface.

<figref idrefs="DRAWINGS">FIG. 2</figref> is a front view of the vehicle base and platform in <figref idrefs="DRAWINGS">FIG. 1</figref>.

<figref idrefs="DRAWINGS">FIG. 3</figref> is a side view of the vehicle base and platform in <figref idrefs="DRAWINGS">FIGS. 1 and 2</figref>.

<figref idrefs="DRAWINGS">FIG. 4</figref> is a cross-sectional view of a wheel and carrier member taken along line <b>4</b>-<b>4</b> in <figref idrefs="DRAWINGS">FIG. 3</figref>.

<figref idrefs="DRAWINGS">FIG. 5</figref> is a perspective view of the platform in <figref idrefs="DRAWINGS">FIGS. 1-3</figref> shown in an intermediate position.

<figref idrefs="DRAWINGS">FIG. 6</figref> is a cross-sectional side view of the platform in <figref idrefs="DRAWINGS">FIGS. 1-3</figref> and <b>5</b> taken along line <b>6</b>-<b>6</b> in <figref idrefs="DRAWINGS">FIG. 2</figref>.

<figref idrefs="DRAWINGS">FIG. 7</figref> is a cross-sectional front view of the platform in <figref idrefs="DRAWINGS">FIGS. 1-3</figref>, <b>5</b> and <b>6</b> taken along line <b>7</b>-<b>7</b> in <figref idrefs="DRAWINGS">FIG. 3</figref>.

<figref idrefs="DRAWINGS">FIG. 8</figref> is a perspective view of one exemplary embodiment of a support device shown in a partially flexed condition.

<figref idrefs="DRAWINGS">FIG. 9</figref> is a top view of the support device in <figref idrefs="DRAWINGS">FIG. 8</figref> shown in an extended condition.

<figref idrefs="DRAWINGS">FIG. 10</figref> is a side view of the support device in <figref idrefs="DRAWINGS">FIGS. 8 and 9</figref> shown in an extended condition.

<figref idrefs="DRAWINGS">FIG. 11</figref> is a schematic representation of movements of a vehicle base, a platform and a support device.

<figref idrefs="DRAWINGS">FIG. 12</figref> is a schematic representation of one exemplary embodiment of a control system suitable for operating a transport vehicle.

<figref idrefs="DRAWINGS">FIGS. 13-21</figref> illustrate a transfer operation of an associated cargo on a vehicle base, a platform and a support device.

<figref idrefs="DRAWINGS">FIGS. 22 and 23</figref> illustrate a transporter and associated payload traversing a discontinuous surface.

DETAILED DESCRIPTION

With reference to <figref idrefs="DRAWINGS">FIG. 1</figref>, a transporter or transport vehicle <b>100</b> is shown transporting an associated payload or cargo CGO, which is illustrated in the drawings as being in an electrophotographic device (e.g., a copying machine or printer), on, across or along a surface SRF. It will be appreciated, however, that associated cargo of any type, kind or configuration can alternately be transported, such as kitchen appliances or industrial machinery, for example.

Transport vehicle <b>100</b> is suitable for movement along and across substantially continuous surfaces, which can include any indoor or outdoor surfaces, such as ground surfaces, sidewalks, driveways, roadways, parking lots as well as interior floor surfaces. Additionally, such surfaces can be disposed at any reasonable incline or orientation, such as interior or exterior building access ramps, for example. Furthermore, transport vehicle <b>100</b> is suitable for traversing discontinuous surfaces, such as climbing roadway or parking lot curbs and ascending/descending flights of stairs, for example. One example of a device suitable for such operation is available from Independent Technologies LLC of Endicott, N.Y. under the designation IBOT Mobility System. It will be appreciated, however, that IBOT Mobility Systems are primarily designed and used for human transport, as discussed above in detail, and that these devices are not believed to be suitable the transport of relatively large or heavy cargo. This is due, at least in part, to issues discussed above involving the loading and unloading of cargo.

Transport vehicle <b>100</b> includes a vehicle base <b>102</b>, a cargo or support platform or platform assembly <b>104</b> supported on the vehicle base, and a support device, such as a flexible force transmission device <b>106</b>, for example. <figref idrefs="DRAWINGS">FIGS. 2 and 3</figref> illustrate transport vehicle <b>100</b> in use transporting cargo CGO on a surface SRF without a support device, which can optionally be removed when not in use as will be discussed in additional detail hereinafter. Vehicle base <b>102</b> includes a base structure <b>107</b> having a front <b>108</b>, a rear <b>110</b> and opposing sides <b>112</b> and <b>114</b>. Carrier members <b>116</b> are supported on opposing sides <b>112</b> and <b>114</b> of vehicle base <b>102</b> in a manner suitable for rotation about a base axis <b>118</b> that extends between the opposing sides. Vehicle base <b>102</b> includes a base axle <b>120</b> extending along base axis <b>118</b> and a motor <b>122</b> operative to drive axle <b>120</b>, such as through a suitable transmission <b>124</b>, for example. Vehicle base <b>102</b> also includes one or more ground-engaging components, such as an endless drive track or wheel, for example, operatively associated with carrier members <b>116</b>. In the present exemplary embodiment, axle <b>120</b> approximately centrally engages carrier members <b>116</b>, which have opposing end portions <b>126</b>. The carrier members have a wheel axis <b>128</b> (<figref idrefs="DRAWINGS">FIG. 4</figref>) disposed along the end portions that are in approximate alignment with base axis <b>118</b>. Wheels <b>130</b> are supported on end portions <b>126</b> of carrier members <b>116</b> for rotation about axes <b>128</b>. Wheels <b>130</b> can be suitable for engaging a ground or floor surface, or alternately can operate as hubs for an endless drive track <b>131</b>, which can optionally be used, as shown in <figref idrefs="DRAWINGS">FIGS. 3 and 4</figref>.

Wheels <b>130</b> can be supported on the carrier members in any suitable manner. For example, in the exemplary embodiment shown in <figref idrefs="DRAWINGS">FIG. 4</figref>, wheel <b>130</b> is rotatably supported along wheel axis <b>128</b> on a shaft <b>132</b> that is secured on carrier member <b>116</b> using suitable friction-reducing components, such as bearings <b>134</b>. Preferably, at least one of the ground-engaging components is a driven component that is capable of inducing and/or resisting motion of the vehicle base. In the exemplary embodiment in <figref idrefs="DRAWINGS">FIG. 4</figref>, a drive assembly, such as a pulley <b>136</b> and a belt <b>138</b>, for example, is operatively associated with shaft <b>132</b> to drive wheel <b>130</b>. It will be appreciated, however, that pulley <b>136</b> and belt <b>138</b> are merely exemplary of a suitable drive assembly, and that any other type or kind of transmission can alternately be used. Power can be provided to the ground-engaging components by way of the drive assembly from any suitable motive power source, such as from a motor or other suitable device. For example, motive power can be transmitted from motor <b>122</b> on the vehicle base <b>102</b>, from a separate (i.e., different) motor located on the vehicle base, or from one or more separate motors located on other components, such as on the corresponding carrier member, for example.

Transport vehicle <b>100</b> utilizes a support device, such as flexible force transmission device <b>106</b>, for example, to support at least a portion of platform <b>104</b>. Depending upon the type, kind and/or configuration of support device that is used, one or more corresponding features or components may be provided on the vehicle base and/or platform for operative association with the support device. In the present exemplary embodiment, flexible force transmission device <b>106</b> is being used. As such, vehicle base <b>102</b> includes otherwise optional engagement members suitable for operative association with the support device, which in this case is flexible force transmission device <b>106</b>. In the present exemplary embodiment, the engagement member is a substantially circular member or engagement disk <b>140</b> that is rotatably supported adjacent wheel <b>130</b> in a suitable manner, such as by being supported on shaft <b>132</b> using a friction-reducing component, such as a bearing <b>142</b>, for example. Engagement disk <b>140</b> also includes one or more engagement features suitable for contacting or otherwise engaging at least a portion of the flexible force transmission device. For example, the one or more engagement features can include a plurality of teeth <b>144</b> disposed on or along the periphery of the engagement disk. It will be appreciated, however, that any other suitable configuration or arrangements can alternately used.

In at least one use condition it will be desirable to have engagement disk <b>140</b> be substantially freely rotatable on shaft <b>132</b> relative to wheel <b>130</b>. In at least one other use condition, it will be desirable to have engagement disk <b>140</b> be registered or indexed to wheel <b>130</b> so that the wheel and the engagement disk are operative as an approximately unitary or single assembly. One example of a suitable arrangement for indexing the wheel and the engagement disk is shown in <figref idrefs="DRAWINGS">FIG. 4</figref> as a keying assembly <b>146</b>, which is supported on a wheel <b>130</b> and includes a retractable keying pin <b>148</b> and a suitable biasing device, such as a spring <b>150</b>. Engagement disk <b>140</b> includes a passage or recess <b>152</b> suitable for receiving keying pin <b>148</b>. In the arrangement shown, keying pin <b>148</b> is biased toward engagement disk <b>140</b> and normally engages recess <b>152</b>. Keying pin <b>148</b> can be selectively retracted and optional the retained in the retracted position to permit free rotation of engagement disk <b>140</b> relative to wheel <b>130</b>. It will be appreciated, however, that the embodiments shown and described are merely exemplary and that any other suitable device, assembly or arrangement can alternately be used.

Platform or platform assembly <b>104</b> is supported on base structure <b>107</b> of vehicle base <b>102</b> and includes a first or upper platform <b>154</b>. In the present exemplary embodiment, upper platform <b>154</b> is displaceably supported on a second or lower platform <b>156</b>, which is secured on base structure <b>107</b>. In the alternative, however, upper platform <b>154</b> could be displaceably supported directly on the base structure <b>107</b> or in any other suitable manner or arrangement. Upper platform <b>154</b> is shown in a first or home position in <figref idrefs="DRAWINGS">FIGS. 1-3</figref> that is approximately centered on vehicle base <b>102</b>. Such an arrangement is well suited for transporting a payload or cargo CGO in a stable and balanced manner on the vehicle base.

One or more actuators or actuating components of any suitable type or kind can be used to selectively displace upper platform <b>154</b> relative to lower platform <b>156</b> and/or base structure <b>107</b>. As shown in the exemplary embodiment in <figref idrefs="DRAWINGS">FIGS. 5-7</figref>, two actuating assemblies <b>158</b> can be used. The actuating assemblies can include threaded members <b>160</b> rotatably supported on or along lower platform <b>156</b>, and travel nuts <b>162</b> displaceable along the threaded members. Upper platform <b>154</b> is pivotally secured on travel nuts <b>162</b> as indicated by arrows PVT. As such, by selectively rotating the threaded members, the travel nuts can be displaced therealong and thereby provide motion to platform <b>154</b>, such as to move between a retracted position and an extended position or other intermediate positions.

As mentioned above, one or more actuators or actuating devices can be used to move upper platform <b>154</b> between a first or retracted position and a second or extended position. If a single actuating device is used, one more linear motion bearings (not shown) or other suitable components or arrangements, such as a dovetail and slideway, for example, can optionally be used to provide smooth travel of the upper platform and to maintain alignment thereof during such motion. Alternately, if two actuating devices are used, as shown in <figref idrefs="DRAWINGS">FIGS. 5-7</figref>, the same can be operatively interconnected for substantially synchronous operation. This can be accomplished in any suitable manner, such as by using independent drive motors (not shown) that are operated under coordinated control, for example. As another example, a timing pulley <b>164</b> can be secured on an end of each threaded member <b>160</b> and the timing pulleys can be interconnected using a timing belt <b>166</b> or another suitable component. In this arrangement, a single drive motor (not shown) can be used to substantially synchronously rotate the threaded members. Additionally, it will be appreciated that any other suitable device, system or a combination thereof can alternately be used as actuating devices, such as pneumatic or hydraulic cylinders, belt drives or a linear electric motor, for example.

Turning now to <figref idrefs="DRAWINGS">FIGS. 8-10</figref>, one example of a suitable support device is shown herein as flexible force transmission device <b>106</b>. It will be appreciated that flexible force transmission device <b>106</b> can be of any construction or configuration, and can be of any suitable length. In the present exemplary embodiment, the flexible force transmission member is formed from a plurality of track segments or links <b>168</b> and it will be appreciated that the number and size of the track links will largely establish the length of device <b>106</b>. Each of the track links includes one or more engaging features <b>170</b> that are preferably complimentary to other provided engaging features, such as the engaging features (e.g., teeth <b>144</b>) on engaging disk <b>140</b>, for example. Each track link is hingedly interconnected to at least one adjacent track link in a suitable manner, such as by using hinge pins <b>172</b>, for example.

To effectively assist in supporting platform <b>154</b>, it is desirable for device <b>106</b> to be flexible but not unstable when under a compressive or column loading condition. As such, the track links are adapted such that the interconnection therebetween permits the track to flex or roll-up in one direction, such as is shown in <figref idrefs="DRAWINGS">FIG. 8</figref>, but to generally resist hinged movement in an opposing direction. As such, a load or force F<b>1</b> applied in one direction to the flexible force transmission assembly can cause the same to flex as shown in <figref idrefs="DRAWINGS">FIG. 8</figref>, but remained substantially rigid against a load or force F<b>2</b> applied in an opposing direction. Furthermore, to remained capable of providing vertical support or carrying a load or force F<b>3</b> in a vertical direction as shown in <figref idrefs="DRAWINGS">FIG. 11</figref>, track links <b>168</b> include contact surfaces <b>174</b> that engage the adjacent track links and limit the movement therebetween. It will be appreciated that the configuration (e.g., height, width and angle) of the contact surfaces will vary from application to application, and that one of skill in the art will be capable of determining a suitable configuration or arrangement for the contact surfaces.

<figref idrefs="DRAWINGS">FIG. 11</figref> illustrates a transport vehicle in a generally upright, transport orientation, as represented by item number <b>100</b>A, and the transport vehicle in an intermediate orientation, as represented by item number <b>100</b>B, as the same is moving toward an angled, transfer orientation. Numerous actions or movements can be recognized from <figref idrefs="DRAWINGS">FIG. 11</figref>. For example, vehicle base <b>102</b>A is shown as being generally upright, whereas vehicle base <b>102</b>B is disposed at an angle AG<b>1</b>. As the vehicle base is rotated, platform <b>154</b>A remains substantially horizontal as indicated by item number <b>154</b>B. However, the platform is displaced from a first or retracted position relative to platform <b>156</b>A to an intermediate position relative to platform <b>156</b>B. Additionally, as platform <b>154</b> moves increasingly closer to surface SRF the radius R<b>1</b> of flexible force transmission device <b>106</b>A decreases to a radius R<b>2</b> of device <b>106</b>B. To accommodate this change, the vehicle base moves relative to the flexible force transmission device as indicated by distance dimensions D<b>1</b> and D<b>2</b> respectively associated with vehicle bases <b>102</b>A and <b>102</b>B.

One example of a control system for a transporter according to the present disclosure is schematically represented in <figref idrefs="DRAWINGS">FIG. 12</figref> as control system <b>200</b>, which includes a base control system <b>202</b> that is supported on the vehicle base. Base control system <b>202</b> includes a controller <b>204</b> and a power source <b>206</b> in communication with the controller. Additionally, a sensor input interface <b>208</b> and a motor control interface <b>210</b> are in communication with controller <b>204</b>. It will be appreciated that self-balancing devices, such as the IBOT Mobility System discussed above, include substantially sophisticated motion control systems that utilize sensor feedback and software algorithms to control the motion and balancing of the device. As such, one of skill in the art, having been made aware of the present disclosure, would be capable of generating or revising any software algorithms to provide control of the vehicle base and platform as discussed herein.

Additionally, control system <b>200</b> includes a remote control for providing operator control of the transporter at a distance from the same. Such a remote control can include a wired control panel (not shown) of a suitable kind, type or configuration. Alternately, control system <b>200</b> can include a wireless remote control <b>212</b> that is adapted to communicate with base control system <b>202</b> in a suitable manner. For example, base control system <b>202</b> can include a transmitter/receiver <b>214</b> that has an antenna <b>216</b> for broadcasting and receiving suitable communication signals. Remote control <b>212</b> can include a corresponding transmitter/receiver <b>218</b> and an antenna <b>220</b> for communicating with base control system <b>202</b>. Transmitter/receiver <b>210</b> and transmitter/receiver <b>218</b> can be operable in any suitable manner, such as by broadcasting and receiving electromagnetic signals or waves WVS, such as IR or RF waves, for example. Additionally, signal encoding schemes (e.g., phase-shift keying or frequency-shift keying) can optionally be used for communicating between base control system <b>202</b> and wireless remote control <b>212</b>.

Remote control <b>212</b> can also include a directional control pad <b>222</b> or other suitable input control that is in communication with a second controller <b>224</b>. A power supply <b>226</b> is in electrical communication with controller <b>224</b>, which outputs signals corresponding to control inputs to transmitter/receiver <b>218</b>. Other input controls can include a power switch <b>228</b>, and load and unload buttons <b>230</b> and <b>232</b>, for example.

<figref idrefs="DRAWINGS">FIGS. 13-21</figref> illustrate a transfer operation for transporter <b>100</b>, such as loading or unloading an associated cargo CGO on to or off of a platform, such as platform assembly <b>104</b>, for example, of a vehicle base, such as vehicle base <b>102</b>. In <figref idrefs="DRAWINGS">FIG. 13</figref>, an unladen transporter <b>100</b> is provided that includes a vehicle base <b>102</b>, a platform assembly <b>104</b> supported on the vehicle base, and a support device, such as a flexible force transmission device <b>106</b>, for example. In <figref idrefs="DRAWINGS">FIG. 14</figref>, device <b>106</b> has been unrolled and placed in operative association with an engaging member provided on vehicle base <b>102</b>. Additionally, platform <b>154</b> of platform assembly <b>104</b> is moving from a first or retracted position in <figref idrefs="DRAWINGS">FIG. 13</figref> toward a second or extended position. In <figref idrefs="DRAWINGS">FIG. 15</figref>, platform <b>154</b> has nearly reached the extended position. It will be recognized that platform <b>154</b> remains approximately horizontally disposed as the platform moves between the retracted and extended positions. Additionally, vehicle base <b>102</b> has moved from a generally upright orientation in <figref idrefs="DRAWINGS">FIGS. 13 and 14</figref> into a significantly more angled orientation in <figref idrefs="DRAWINGS">FIG. 15</figref>. Furthermore, vehicle base <b>102</b> has moved or been repositioned relative to device <b>106</b>, as shown in and discussed with regard to <figref idrefs="DRAWINGS">FIG. 11</figref>.

In <figref idrefs="DRAWINGS">FIG. 16</figref>, vehicle base <b>102</b> has reached a second or angled orientation, and platform <b>154</b> of platform assembly <b>104</b> has reached a fully extended position. Device <b>106</b> is extending substantially horizontally along surface SRF and platform <b>154</b> is supported directly thereon. As such, platform <b>154</b> is disposed in an appropriate orientation or position for the loading or unloading of an associated payload, such as cargo CGO. A ramp RMP or other component can optionally be used to minimize impact or other inputs on the associated cargo, which is shown loaded on platform <b>154</b> in <figref idrefs="DRAWINGS">FIG. 17</figref>.

In <figref idrefs="DRAWINGS">FIGS. 18-20</figref>, vehicle base <b>102</b> returns from a second or angular orientation to the first or upright orientation suitable for transporting cargo CGO. Additionally, platform <b>154</b> of platform assembly <b>104</b> remains approximately horizontal during the move from the extended position in <figref idrefs="DRAWINGS">FIG. 17</figref> to the retracted position in <figref idrefs="DRAWINGS">FIG. 20</figref>. Furthermore, it will be appreciated that cargo CGO also remains substantially upright and that the tipping or tilting of the cargo that is associated with other transport methods is avoided. Vehicle base <b>102</b> can be moved relative to device <b>106</b> to lengthen or shorten the load transmitting distance. In <figref idrefs="DRAWINGS">FIG. 21</figref>, the vehicle base <b>102</b> and platform assembly <b>104</b> are fully returned to the orientation and/or position suitable for transport of the cargo, and device <b>106</b> has been removed from engagement with the vehicle base. As such, transporter <b>100</b> can be operated to transport the associated cargo.

<figref idrefs="DRAWINGS">FIGS. 22 and 23</figref> illustrate transporter <b>100</b> laden with cargo CGO traversing a discontinuous surface, such as a flight of stairs that includes steps ST<b>1</b> and ST<b>2</b>. Upon contacting the front of stair ST<b>1</b>, carrier members <b>116</b> of vehicle base <b>102</b> are rotated about wheels <b>130</b>A until wheels <b>130</b>B contact the tread of stair STI and can support the transporter and cargo thereon. This process is repeated for stair ST<b>2</b> and continues to ascend the full flight of stairs. Additionally, these same actions can be performed in reverse to descend a flight of steps. Similar actions can be used to traverse a wide variety of discontinuous surfaces. Importantly, platform assembly <b>104</b> remains in a substantially horizontal orientation during the movements of the transporter. As such, cargo CGO does not undergo the tipping or tilting actions associated with other transport methods.

It will be appreciated that various of the above-disclosed and other features and functions, or alternatives thereof, may be desirably combined into many other different systems or applications. Also that various presently unforeseen or unanticipated alternatives, modifications, variations or improvements therein may be subsequently made by those skilled in the art which are also intended to be encompassed by the following claims.